mirror of https://github.com/ArduPilot/ardupilot
146 lines
3.6 KiB
C++
146 lines
3.6 KiB
C++
/*
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Buzzer driver
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*/
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Buzzer.h"
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Notify.h"
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extern const AP_HAL::HAL& hal;
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bool Buzzer::init()
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{
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if (pNotify->buzzer_enabled() == false) {
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return false;
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}
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_pin = pNotify->get_buzz_pin();
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if (_pin <= 0) {
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// no buzzer
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return false;
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}
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// setup the pin and ensure it's off
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hal.gpio->pinMode(_pin, HAL_GPIO_OUTPUT);
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on(false);
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// set initial boot states. This prevents us issuing a arming
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// warning in plane and rover on every boot
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_flags.armed = AP_Notify::flags.armed;
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_flags.failsafe_battery = AP_Notify::flags.failsafe_battery;
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return true;
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}
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// update - updates led according to timed_updated. Should be called at 50Hz
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void Buzzer::update()
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{
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update_pattern_to_play();
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update_playing_pattern();
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}
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void Buzzer::update_pattern_to_play()
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{
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// check for arming failed event
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if (AP_Notify::events.arming_failed) {
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// arming failed buzz
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play_pattern(SINGLE_BUZZ);
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return;
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}
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if (AP_HAL::millis() - _pattern_start_time < _pattern_start_interval_time_ms) {
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// do not interrupt playing patterns / enforce minumum separation
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return;
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}
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// check if armed status has changed
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if (_flags.armed != AP_Notify::flags.armed) {
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_flags.armed = AP_Notify::flags.armed;
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if (_flags.armed) {
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// double buzz when armed
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play_pattern(ARMING_BUZZ);
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} else {
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// single buzz when disarmed
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play_pattern(SINGLE_BUZZ);
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}
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return;
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}
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// check ekf bad
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if (_flags.ekf_bad != AP_Notify::flags.ekf_bad) {
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_flags.ekf_bad = AP_Notify::flags.ekf_bad;
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if (_flags.ekf_bad) {
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// ekf bad warning buzz
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play_pattern(EKF_BAD);
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}
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return;
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}
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// if vehicle lost was enabled, starting beep
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if (AP_Notify::flags.vehicle_lost) {
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play_pattern(DOUBLE_BUZZ);
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return;
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}
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// if battery failsafe constantly single buzz
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if (AP_Notify::flags.failsafe_battery) {
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play_pattern(SINGLE_BUZZ);
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return;
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}
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}
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void Buzzer::update_playing_pattern()
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{
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if (_pattern == 0UL) {
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return;
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}
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const uint32_t delta = AP_HAL::millis() - _pattern_start_time;
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if (delta >= 3200) {
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// finished playing pattern
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on(false);
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_pattern = 0UL;
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return;
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}
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const uint32_t bit = delta / 100UL; // each bit is 100ms
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on(_pattern & (1U<<(31-bit)));
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}
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// on - turns the buzzer on or off
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void Buzzer::on(bool turn_on)
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{
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// return immediately if nothing to do
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if (_flags.on == turn_on) {
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return;
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}
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// update state
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_flags.on = turn_on;
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// pull pin high or low
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const uint8_t buzz_on = pNotify->get_buzz_level();
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hal.gpio->write(_pin, _flags.on? buzz_on : !buzz_on);
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}
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/// play_pattern - plays the defined buzzer pattern
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void Buzzer::play_pattern(const uint32_t pattern)
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{
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_pattern = pattern;
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_pattern_start_time = AP_HAL::millis();
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}
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